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An intelligent multisensor robotic system consisting of vision, tactile, and force/torque sensors is constructed. An artificial intelligence tool in the form of an expert system shell is included in the system to provide a high-level decision-making tool for the robotic system. The multisensor system consists of a VAX-11/750 supervisory computer, two PUMA-560 robots, a vision system, a work-cell tactile array sensor, an instrumented servo gripper equipped with force/torque and tactile array sensors, a six-component wrist force/torque sensor, and an expert system shell running on an IBM PC. All the components in the system are connected to the supervisory VAX computer. Software and hardware links of the system were also developed. Modularity was emphasized in the system development to permit easy and rapid reconfiguration of the system. A simple sensor fusion experiment was conducted. The experiment was used to test the software and hardware of the entire multisensor system and to illustrate the concept of sensor fusion. > |
